CN113057814B

CN113057814B - Rehabilitation physiotherapy nursing device capable of being intelligently controlled

Info

Publication number: CN113057814B
Application number: CN202011025589.2A
Authority: CN
Inventors: 肖罡; 刘轩; 杨钦文; 黄冠迪
Original assignee: Jiangxi College of Application Science and Technology
Current assignee: Jiangxi College of Application Science and Technology
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2022-05-10
Anticipated expiration: 2040-09-25
Also published as: CN113057814A

Abstract

The invention discloses a rehabilitation physiotherapy nursing device capable of being intelligently controlled by voice, which comprises a bed plate, a bed plate bracket, a bed frame, a back lifting driving mechanism, a turning driving mechanism, a toilet tray, a toilet driving mechanism, an upper limb bending and stretching mechanism, a lower limb bending and stretching mechanism, a leg bending driving mechanism and a voice control system, wherein the voice control system receives back lifting, turning, toilet, upper limb bending and stretching or leg bending instructions sent by a user and controls the starting and stopping of the back lifting driving mechanism, the turning driving mechanism, the toilet driving mechanism, the upper limb bending and stretching mechanism, the lower limb bending and stretching mechanism or the leg bending driving mechanism according to the received instructions. The invention has the basic nursing functions of back lifting, leg bending, turning over, toileting and the like, all mechanisms are not interfered with each other, the space above the bed board is not occupied, the trouble of manually searching for physical keys or operating buttons of a remote controller is eliminated through a voice control system, the operation is convenient, and the use of the horizontal physiotherapy and nursing device is more humanized.

Description

Rehabilitation physiotherapy nursing device capable of being intelligently controlled

Technical Field

The invention relates to a rehabilitation nursing apparatus, in particular to an intelligent control rehabilitation physiotherapy nursing device.

Background

The nursing bed on the market at present generally has the basic nursing functions of getting up the back, bending legs, turning over, toileting and the like. Patients who are bedridden for a long time may need to be assisted by nursing staff when moving limbs, or the patients can be transferred to special nursing equipment. In the process, potential safety hazards exist, and secondary damage to the patient can be caused. Therefore, it is very important to invent a nursing bed which integrates the basic physical therapy function and has the four limb rehabilitation training function.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the defects of the prior art and provide an intelligent control rehabilitation physiotherapy nursing device which has the basic nursing functions of lifting the back, bending legs, turning over, toileting and the like, does not interfere with each other, perfectly integrates four limb training mechanisms with a bed body, does not occupy the space above the bed plate, arranges transmission mechanisms with all functions below the bed plate, beautifies the appearance, and has simple and compact structure.

In order to solve the technical problems, the invention adopts the following technical scheme:

an intelligently-controlled rehabilitation physiotherapy nursing device comprises a bed plate, a bed plate bracket, a bed frame, a back lifting driving mechanism, a turnover driving mechanism, a toileting tray, a toileting driving mechanism, an upper limb bending and stretching mechanism, a lower limb bending and stretching mechanism, a leg bending driving mechanism and a voice control system, wherein the bed plate comprises an upper body main bed plate, a lower body main bed plate, a back plate, a hip plate, a large arm bed plate, a small arm bed plate, a thigh bed plate, a calf bed plate and a pedal plate, the upper body main bed plate is arranged on the bed plate bracket, the lower body main bed plate is hinged with the upper body main bed plate, the back plate is arranged on the bed plate bracket and is hinged with the upper body main bed plate, the back lifting driving mechanism is arranged on the bed plate bracket and is used for driving the back plate to upwards overturn, the upper body main bed plate is provided with a bed plate mounting groove, the hip plate is arranged in the mounting groove in a sliding manner, the toileting tray is arranged below the hip plate and is connected with the toileting driving mechanism, the toilet driving mechanism is used for driving a hip plate to slide and driving a toilet tray to ascend and descend, the big arm bed plate is hinged to a back plate, the small arm bed plate is hinged to the big arm bed plate, the upper limb bending and stretching mechanism is connected with the small arm bed plate and drives the small arm bed plate and the big arm bed plate to move inwards and inwards, the thigh bed plate is hinged to an upper body main bed plate, the shank bed plate is hinged to a thigh bed plate, the lower limb bending and stretching mechanism is connected with the shank bed plate and drives the shank bed plate and the thigh bed plate to move outwards and outwards, the turnover driving mechanism is arranged on the bed frame, the bed plate support is rotatably arranged on the bed frame, the turnover driving mechanism is connected with the bed plate support and is used for driving the bed plate support to turn over relative to the bed frame, the pedal plate is hinged to a lower body main bed plate, the leg bending driving mechanism is connected with the pedal plate and drives the pedal plate to move downwards and drive the lower body main bed plate to turn over downwards, the voice control system receives back lifting, turning over, toileting, upper limb flexion and extension or leg flexion instructions sent by a user, and controls the start and stop of the back lifting driving mechanism, the turning over driving mechanism, the toileting driving mechanism, the upper limb flexion and extension mechanism, the lower limb flexion and extension mechanism or the leg flexion driving mechanism according to the received instructions.

As a further improvement of the above technical solution:

the upper limb flexion and extension mechanism is an upper limb crank connecting rod sliding block mechanism, the upper limb crank connecting rod sliding block mechanism is installed below the upper body main bed plate, the forearm bed plate is hinged with an upper limb flexion and extension sliding block of the upper limb crank connecting rod sliding block mechanism, and a hinge point between the forearm bed plate and the large arm bed plate is lower than a hinge point between the large arm bed plate and the back plate; the lower limb bending and stretching mechanism is a lower limb crank connecting rod sliding block mechanism, the lower limb crank connecting rod sliding block mechanism is installed below the lower body main bed plate, the lower limb bending and stretching sliding block of the lower limb crank connecting rod sliding block mechanism is hinged to the lower limb bending and stretching sliding block of the lower limb crank connecting rod sliding block mechanism, and the hinge point between the lower limb bed plate and the thigh bed plate is higher than the hinge point between the thigh bed plate and the upper body main bed plate.

The upper limb crank connecting rod sliding block mechanism comprises an upper limb disc crank, an upper limb crank bracket, an upper limb crank connecting rod, an upper limb first guide rail, an upper limb connecting rod, an upper limb second guide rail and an upper limb crank drive, the upper limb crank bracket is installed on an upper limb main bed plate, the upper limb disc crank is arranged on the upper limb crank bracket, the upper limb crank drive is used for driving the upper limb disc crank to rotate, an upper limb sine sliding block is fixedly arranged on the upper limb disc crank, the upper limb first guide rail is fixed on the upper limb crank bracket, an upper limb strip-shaped groove is arranged on the upper limb crank connecting rod, the upper limb sine sliding block is positioned in the upper limb strip-shaped groove, the upper limb crank connecting rod is movably arranged on the upper limb first guide rail, the upper limb second guide rail is arranged on one side of the forearm bed plate, one end of the upper limb connecting rod is connected with an upper limb flexion-extension sliding block in the upper limb second guide rail, the other end is connected with an upper limb crank connecting rod, and the forearm bed plate is hinged with an upper limb bending and stretching slide block.

The lower limb crank connecting rod sliding block mechanism comprises a lower limb disc crank, a lower limb crank bracket, a lower limb crank connecting rod, a lower limb first guide rail, a lower limb connecting rod, a lower limb second guide rail and a lower limb crank drive, the lower limb crank bracket is installed on an upper body main bed plate, the lower limb disc crank is arranged on the lower limb crank bracket, the lower limb crank drive is used for driving the lower limb disc crank to rotate, a lower limb sine sliding block is fixedly arranged on the lower limb disc crank, the lower limb first guide rail is fixed on the lower limb crank bracket, a lower limb strip-shaped groove is formed in the lower limb crank connecting rod, the lower limb sine sliding block is positioned in the lower limb strip-shaped groove, the lower limb crank connecting rod is movably arranged on the lower limb first guide rail, the lower limb second guide rail is arranged on one side of a lower limb bed plate, one end of the lower limb connecting rod is connected with the lower limb bending and stretching sliding block in the lower limb second guide rail, the other end is connected with a lower limb crank connecting rod, and the shank bed plate is hinged with a lower limb bending and stretching sliding block.

The upper limb first guide rail is an upper limb optical axis, two ends of the upper limb optical axis are arranged on the upper limb crank bracket, one end of the upper limb crank connecting rod is provided with an upper limb connecting sleeve, and the upper limb connecting sleeve is movably sleeved on the upper limb optical axis; the lower limb first guide rail is a lower limb optical axis, two ends of the lower limb optical axis are arranged on the lower limb crank bracket, one end of the lower limb crank connecting rod is provided with a lower limb connecting sleeve, and the lower limb connecting sleeve is movably sleeved on the lower limb optical axis; the upper limb optical axis is provided with an optical axis sliding block, the optical axis sliding block comprises a sliding block base and two lifting lugs, the two lifting lugs penetrate through the upper limb optical axis, the upper limb connecting sleeve is arranged between the two lifting lugs, the sliding block base is provided with a first U-shaped groove, and one end of an upper limb connecting rod is hinged in the first U-shaped groove through a pin shaft; the lower limb connecting rod is characterized in that an optical axis sliding block is arranged on the lower limb optical axis and comprises a sliding block base and two lifting lugs, the two lifting lugs penetrate through the lower limb optical axis, the lower limb connecting sleeve is arranged between the two lifting lugs, the sliding block base is provided with a first U-shaped groove, and one end of the lower limb connecting rod is hinged in the first U-shaped groove through a pin shaft; the upper limb bending and stretching sliding block is provided with a sliding connecting seat, the sliding connecting seat is provided with a second U-shaped groove, and the other end of the upper limb connecting rod is hinged in the second U-shaped groove through a pin shaft; the lower limb bending and stretching sliding block is provided with a sliding connection seat, the sliding connection seat is provided with a second U-shaped groove, and the other end of the lower limb connecting rod is hinged in the second U-shaped groove through a pin shaft.

The leg bending driving mechanism comprises a leg bending lead screw, a leg bending lead screw driver, a leg bending lead screw connecting rod, a transition connecting rod, an L-shaped leg bending connecting rod and a leg bending guide rail, the lower body main bed plate and the upper body main bed plate are provided with a hinge point P, the leg bending lead screw is mounted on the back of the bed plate support, the leg bending lead screw driver is used for driving the leg bending lead screw to rotate, the leg bending guide rail is mounted on the back of the bed plate support, one end of the leg bending lead screw connecting rod is connected with a leg bending lead screw nut of the leg bending lead screw, the other end of the leg bending lead screw is connected with a leg bending sliding block of the leg bending guide rail, the L-shaped leg bending connecting rod is hinged on the bed plate support and is provided with a hinge point Q, the L-shaped leg bending connecting rod is provided with a horizontal connecting rod part and a vertical connecting rod part, the hinge point Q is arranged at the joint of the horizontal connecting rod part and the vertical connecting rod part, one end of the transition connecting rod is hinged with the leg bending sliding block, the other end of the transition connecting rod part is hinged with the vertical connecting rod part, the back of the pedal is fixedly provided with a vertical supporting plate, the horizontal connecting rod part is hinged with the vertical supporting plate, the hinge point P and the hinge point Q are on the same vertical line, a hinge point M is arranged between the pedal and the lower body main bed plate, a hinge point N is arranged between the horizontal connecting rod part and the vertical supporting plate, the hinge point M and the hinge point N are on the same vertical line, and the length of a connecting line of PQ is equal to that of MN.

Play back actuating mechanism including playing back lead screw, playing back lead screw connecting rod, playing back guide rail and playing back lead screw drive, play back guide rail and locate the back of backplate, play on the mobilizable back guide rail of locating of back connecting rod one end, the other end and bed board leg joint, play back lead screw and install the below at the bed board support, play back lead screw connecting rod one end and play back lead screw nut of playing back lead screw and be connected, the other end with play back the connecting rod articulated, it is used for the drive to play back lead screw rotation to play back lead screw drive.

The turnover driving mechanism comprises a turnover lead screw, a turnover lead screw connecting rod and a turnover lead screw drive, wherein the turnover connecting rod is arranged on the back of the bed plate support, the turnover lead screw is installed on the bed frame and is positioned below the turnover connecting rod, one end of the turnover lead screw connecting rod is connected with the turnover lead screw nut, the other end of the turnover lead screw connecting rod is hinged with the turnover connecting rod, the turnover lead screw drive is used for driving the turnover lead screw to rotate, side baffles are arranged on two sides of the upper body main bed plate, one side of each side baffle, which is close to the inside, is hinged to the upper body main bed plate, and blocking wheels are arranged below the side baffles and are installed on the side part of the bed frame through blocking wheel supports.

The toileting driving mechanism comprises a toileting disk crank, a toileting crank connecting rod, a toileting crank drive, a toileting connecting rod and a tray connecting rod group, the toileting crank drive is installed on a bed plate support, the toileting disk crank is in drive connection with the toileting crank, one end of the toileting crank connecting rod is hinged to the outer edge of the toileting disk crank, the other end of the toileting crank connecting rod is hinged with a hip plate, the tray connecting rod group comprises an installation block, an L-shaped connecting block, a first connecting rod and a second connecting rod, the installation block is arranged on the bed plate support, one end of each of the first connecting rod and the second connecting rod is hinged on the installation block, the other end of each of the first connecting rod and the second connecting rod is hinged with the horizontal part of the L-shaped connecting block, the first connecting rod and the second connecting rod are parallel, the toileting tray is fixed on the vertical part of the L-shaped connecting block, and a parallelogram is formed among the installation block, the first connecting rod, the second connecting rod and the horizontal part, one end of the toileting connecting rod is hinged with the hip plate, and the other end of the toileting connecting rod is hinged with the L-shaped connecting block.

The back plate, the large arm bed plate, the small arm bed plate and the thigh bed plate are embedded on the upper body main bed plate, and the large arm bed plate, the small arm bed plate and the thigh bed plate are flush with the upper body main bed plate; the crus bed board is embedded in the lower body main bed board, the crus bed board is flush with the lower body main bed board, and the pedal is flush with the lower body main bed board and the upper body main bed board.

Compared with the prior art, the invention has the advantages that:

(1) the rehabilitation physiotherapy nursing device capable of being intelligently controlled, provided by the invention, has the advantages that the back rising driving mechanism, the turning over driving mechanism, the defecation tray, the defecation driving mechanism, the upper limb flexion and extension mechanism, the lower limb flexion and extension mechanism and the leg flexion driving mechanism are arranged, so that a rehabilitee or an old person can perform flexion and extension movement of four limbs when lying, can perform back rising movement, can perform turning over movement, can perform leg flexion movement, can perform sitting and standing movement, can perform defecation when lying, enables the rehabilitation patients or the old to get rehabilitation training of the lower arms, the upper arms, the lower legs, the thighs, the waist and the abdomen and the like, simultaneously has the basic nursing functions of back lifting, leg bending, body turning, toileting and the like, the mechanisms are not interfered with each other, the four-limb training mechanism is perfectly integrated with the bed body, the space above the bed plate is not occupied, and the transmission mechanisms with all functions are arranged below the bed plate. Not only beautifies the appearance, but also has simple and compact structure. Through voice control system, eliminated the artificial vexation of looking for remote controller physics button or operating button, convenient operation makes horizontal physiotherapy more humanized with the use of nursing device, and is more warm, has eliminated mechanical device's the slabby and has used experience.

(2) The intelligent control rehabilitation physiotherapy nursing device provided by the invention adopts the sinusoidal motion mechanism formed by connecting the disc-shaped crank, the sinusoidal slide block and the crank, and realizes sinusoidal motion of the upper limbs and the lower limbs in the bending and stretching process, so that the device is buffered during motion, the impact on the upper limbs and the lower limbs is reduced, and better use experience is provided for users. The crank drive of the upper limbs and the lower limbs is preferably a servo motor, and the motor can be controlled to change different motion frequencies, so that the intensity which is most suitable for the motion of a user is achieved. The small arm bed board, the big arm bed board and the driving mechanisms of the small arm bed board and the big arm bed board are connected with the bed board into a whole, and no external device is needed, so that the bed board is more convenient and simpler.

Drawings

Fig. 1 is a schematic structural diagram of an intelligently controlled rehabilitation physiotherapy care device of the invention.

Fig. 2 is a partial schematic view of a drive mechanism of the intelligently controllable rehabilitation physiotherapy care device of the invention.

Fig. 3 is a partial schematic view (one) of the limb driving mechanism of the intelligent controlled rehabilitation physiotherapy nursing device of the invention.

Fig. 4 is a partial schematic view (two) of the limb driving mechanism of the intelligent controlled rehabilitation physiotherapy nursing device of the invention.

Fig. 5 is a schematic structural view of the upper limb crank connecting rod slider in the invention.

Fig. 6 is a schematic structural view of the upper limb optical axis and the upper limb link rod in the present invention.

Fig. 7 is a schematic structural view of an optical axis slider according to the present invention.

Fig. 8 is a schematic position diagram of the upper limb second guide rail, the upper limb flexion-extension slide block and the forearm bedplate in the invention.

Fig. 9 is a schematic structural view of the upper limb crank link of the present invention.

Fig. 10 is a schematic view of the structure of the upper limb crank bracket of the present invention.

Fig. 11 is a schematic structural view of the slider connecting seat of the present invention.

Fig. 12 is a schematic view showing the state of the flexion and extension process of the upper arm plate and the lower arm plate according to the present invention.

Fig. 13 is a schematic view of the lower limb crank link mechanism of the present invention.

Fig. 14 is a schematic view of the position of the lower limb second guide rail and the lower limb flexion-extension slide block of the invention.

Fig. 15 is a schematic view showing the state of the flexion and extension process of the thigh bed board and the calf bed board in the invention.

Fig. 16 is a schematic structural view of the leg curl driving mechanism of the present invention.

Fig. 17 is a schematic structural view of the leg bending guide rail and the leg bending slider in the present invention.

FIG. 18 is a schematic view of the structure of the support vertical plate, the L-shaped leg curl link, and the transition link of the present invention.

Fig. 19 is a schematic structural view of the leg bending connection seat of the present invention.

Fig. 20 is a schematic structural view of the leg bending screw rod connecting rod of the present invention.

Fig. 21 is a state diagram of the leg curl movement of the present invention.

Fig. 22 is a schematic structural view of the back lifting drive mechanism of the present invention.

Fig. 23 is a schematic view showing a state of the back raising operation of the present invention.

Fig. 24 is a schematic structural view (one) of the turn-over driving mechanism in the present invention.

Fig. 25 is a schematic structural view (two) of the turn-over driving mechanism of the present invention.

Fig. 26 is a schematic view of the structure of the catch wheel according to the present invention (a is a top view, and b is a bottom view).

Fig. 27 is a state diagram of the turning-over action of the present invention.

Fig. 28 is a schematic view of the construction of the toilet drive mechanism of the present invention.

FIG. 29 is a schematic view of the connection structure of the toilet connecting rod, the tray connecting rod set and the toilet crank connecting rod in the invention.

Fig. 30 is a schematic view of the structure of the pallet linkage of the present invention.

Fig. 31 is a control flow diagram of the intelligent control module according to the present invention.

The reference numerals in the figures denote:

1. a bed board; 101. mounting grooves; 102. a side dam; 103. a chute; 11. an upper body main bed plate; 12. a lower body main bed plate; 13. a back plate; 14. a hip plate; 15. a big arm bed board; 16. a forearm bed plate; 17. a thigh bed plate; 18. a shank bed plate; 19. a foot pedal; 191. supporting the vertical plate; 192. a fourth U-shaped slot; 2. a bed frame; 201. a catch wheel; 202. a catch wheel bracket; 21. a bed board bracket; 211. connecting a vertical plate; 212. an end vertical plate; 213. a leg bending connecting seat; 214. a third U-shaped groove; 3. an upper limb flexion and extension mechanism; 31. an upper limb disc crank; 311. an upper limb sine slider; 32. an upper limb crank bracket; 321. a crank tray; 322. a bracket; 323. a bracket ear plate; 324. avoiding a guide groove; 33. an upper limb crank connecting rod; 331. an upper limb strip-shaped groove; 332. an upper limb connecting sleeve; 34. an upper limb connecting rod; 35. a second upper limb guide rail; 351. an upper limb flexion and extension slide block; 36. the upper limb optic axis; 37. an optical axis slider; 371. a slider base; 372. lifting lugs; 373. a first U-shaped slot; 38. the upper limb is driven by a crank; 4. a lower limb flexion and extension mechanism; 41. a lower limb disc crank; 411. a lower limb sine slider; 42. a lower limb crank bracket; 43. a lower limb crank connecting rod; 431. a lower limb strip groove; 432. a lower limb connecting sleeve; 44. a lower limb connecting rod; 45. a lower limb second guide rail; 451. a lower limb flexion and extension sliding block; 46. a lower limb optic axis; 47. a sliding connection seat; 471. a second U-shaped slot; 48. lower limb crank drive; 5. a back lifting drive mechanism; 51. a back lifting screw rod; 511. a back screw nut; 52. a back lifting screw rod connecting rod; 53. a back rising connecting rod; 54. a back lifting guide rail; 541. a roller; 55. driving a back lifting screw rod; 6. a turnover driving mechanism; 61. turning over a lead screw; 611. turning over the screw nut; 62. a turning-over lead screw connecting rod; 63. a turning-over connecting rod; 64. driving a turning screw rod; 7. a toilet drive mechanism; 71. a toilet pan crank; 72. a toilet crank connecting rod; 74. a toilet connecting rod; 75. a tray linkage; 751. mounting blocks; 752. an L-shaped connecting block; 753. a first link; 754. a second link; 755. a horizontal portion; 756. a vertical portion; 8. a leg bending driving mechanism; 81. a leg bending lead screw; 811. a leg bending lead screw nut; 82. driving by a leg bending lead screw; 83. a leg bending lead screw connecting rod; 831. connecting the sub-boards; 832. reinforcing ribs; 84. a transition link; 85. an L-shaped leg bending connecting rod; 851. a horizontal link portion; 852. a vertical link portion; 86. a leg bending guide rail; 861. a leg bending sliding block; 9. a toilet tray.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples of the specification.

As shown in fig. 1 to 3, the rehabilitation physiotherapy nursing device capable of intelligent control of the embodiment comprises a bed plate 1, a bed plate bracket 21, a bed frame 2, a back lifting driving mechanism 5, a turning driving mechanism 6, a toileting tray 9, a toileting driving mechanism 7, an upper limb bending and stretching mechanism 3, a lower limb bending and stretching mechanism 4, a leg bending driving mechanism 8 and a voice control system, wherein the bed plate 1 comprises an upper body main bed plate 11, a lower body main bed plate 12, a back plate 13, a hip plate 14, a big arm bed plate 15, a small arm bed plate 16, a thigh bed plate 17, a calf bed plate 18 and a pedal plate 19, the upper body main bed plate 11 is arranged on the bed plate bracket 21, the lower body main bed plate 12 is hinged with the upper body main bed plate 11, the back plate 13 is arranged on the bed plate bracket 21 and hinged with the upper body main bed plate 11, the back lifting driving mechanism 5 is arranged on the bed plate bracket 21 and is used for driving the back plate 13 to turn upwards, the upper body main bed plate 11 is provided with a mounting groove 101, the hip plate 14 is arranged in the mounting groove 101, the toileting tray 9 is arranged below the hip plate 14 and connected with the toileting driving mechanism 7, the toileting driving mechanism 7 is used for driving the hip plate 14 to slide and driving the toileting tray 9 to ascend and descend, the big arm bed plate 15 is hinged on the back plate 13, the small arm bed plate 16 is hinged with the big arm bed plate 15, the upper limb bending and stretching mechanism 3 is connected with the small arm bed plate 16 and drives the small arm bed plate 16 and the big arm bed plate 15 to move inwards, the thigh bed plate 17 is hinged on the upper body main bed plate 11, the shank bed plate 18 is hinged with the thigh bed plate 17, the lower limb bending and stretching mechanism 4 is connected with the shank bed plate 18 and drives the shank bed plate 18 and the thigh bed plate 17 to move outwards, the turnover driving mechanism 6 is arranged on the bed frame 2, the bed plate support 21 is rotatably arranged on the bed frame 2, the turnover driving mechanism 6 is connected with the bed plate support 21 and used for driving the bed plate support 21 to turn over relative to the bed frame 2, the foot plate 19 is hinged on the lower body main bed plate 12, the leg bending driving mechanism 8 is connected with the pedal plate 19 and drives the pedal plate 19 to translate downwards and drive the lower body main bed plate 12 to turn downwards.

The voice control system receives back lifting, turning over, toileting, upper limb flexion and extension or leg flexion instructions sent by a user, and controls the start and stop of the back lifting driving mechanism 5, the turning over driving mechanism 6, the toileting driving mechanism 7, the upper limb flexion and extension mechanism 3, the lower limb flexion and extension mechanism 4 or the leg flexion driving mechanism 8 according to the received instructions. If the user needs to lift the back, the key words with the back are spoken, the intelligent voice control module receives the key words with the back and feeds the key words back to the controller, and the controller controls the turnover driving mechanism 6 to drive the back plate 13 to turn upwards so as to finish the back lifting.

The rehabilitation physiotherapy nursing device capable of being intelligently controlled is provided with the back lifting driving mechanism 5, the turnover driving mechanism 6, the toileting tray 9, the toileting driving mechanism 7, the upper limb bending and stretching mechanism 3, the lower limb bending and stretching mechanism 4 and the leg bending driving mechanism 8, so that a rehabilitee or an old person can perform bending and stretching movement of four limbs when lying down, can perform back lifting movement, can perform turnover movement, can perform leg bending movement, can perform sitting and standing movement, can perform toileting when lying down, enables the rehabilitation patients or the old to get rehabilitation training of the lower arms, the upper arms, the lower legs, the thighs, the waist and the abdomen and the like, simultaneously has the basic nursing functions of back lifting, leg bending, body turning, toileting and the like, the mechanisms do not interfere with each other, the four-limb training mechanism is perfectly fused with the bed body, the space above the bed plate is not occupied, and the transmission mechanisms with all functions are arranged below the bed plate. Not only beautifies the appearance, but also has simple and compact structure. Through intelligent voice control system, eliminated the artificial vexation of looking for remote controller physics button or operating button, convenient operation makes horizontal physiotherapy more humanized with the use of nursing device, and is more warm, has eliminated mechanical device's rigid and has used experience.

Fig. 4 to 15 show the structure and the working principle of the four limbs flexion and extension part of the embodiment.

Upper limb structural part: in this embodiment, the upper limb flexion and extension mechanism 3 is an upper limb crank link slider mechanism, the upper limb crank link slider mechanism is installed below the upper body main bed plate 11, the forearm bed plate 16 is hinged to the upper limb flexion and extension slider 351 of the upper limb crank link slider mechanism, and the hinge point between the forearm bed plate 16 and the large arm bed plate 15 is lower than the hinge point between the large arm bed plate 15 and the back plate 13. The forearm bed plate 16 and the large arm bed plate 15 are suspended.

In this embodiment, the upper limb crank-link slider mechanism comprises an upper limb disc crank 31, an upper limb crank bracket 32, an upper limb crank link 33, an upper limb first guide rail, an upper limb link 34, an upper limb second guide rail 35 and an upper limb crank drive 38, the upper limb crank bracket 32 is mounted on the upper body main bed plate 11, the upper limb disc crank 31 is arranged on the upper limb crank bracket 32, the upper limb crank drive 38 is preferably a servo motor, the servo motor is mounted on the back of the upper limb crank bracket 32, the servo motor is connected with the upper limb disc crank 31 and is used for driving the upper limb disc crank 31 to rotate, an upper limb sine slider 311 is fixedly arranged on the upper limb disc crank bracket 31, the upper limb first guide rail is fixed on the upper limb crank bracket 32, an upper limb strip-shaped groove 331 is arranged on the upper limb crank link 33, the sine upper limb slider 311 is positioned in the upper limb strip-shaped groove 331, the upper limb crank link 33 is movably arranged on the upper limb first guide rail, the upper limb second guide rail 35 is arranged on one side of the forearm bed plate 16, one end of the upper limb connecting rod 34 is connected with the upper limb flexion and extension sliding block 351 in the upper limb second guide rail 35, the other end of the upper limb connecting rod is connected with the upper limb crank connecting rod 33, and the forearm bed plate 16 is hinged with the upper limb flexion and extension sliding block 351.

The specific execution process of the upper limb flexion-extension rehabilitation training is as follows:

because the upper limb drive is preferably a servo motor, the start and stop of the servo motor can be operated by arranging a remote controller. When upper limbs need rehabilitation training, an upper limb servo motor is started, the motor drives an upper limb disc crank 31 to rotate, an upper limb sine slider 311 on the upper limb disc crank 31 also rotates, the upper limb disc crank 31 reciprocates along an upper limb strip-shaped groove 331 in the rotating process, so that an upper limb crank connecting rod 33 is driven to move along an upper limb first guide rail, meanwhile, as the upper limb crank connecting rod 33 is connected with the upper limb connecting rod 34, the upper limb connecting rod 33 can push the upper limb connecting rod 34 to move in the moving process, the upper limb connecting rod 34 pushes (pulls) an upper limb flexion and extension slider 351 to move along an upper limb second guide rail 35, the upper limb flexion and extension slider 351 can drive a forearm bed plate 16 to move relative to a forearm bed plate 15, as the forearm bed plate 16 is hinged relative to the forearm bed plate 15, and the upper limb flexion and extension slider 351 is hinged to the forearm bed plate 16, the flexion and extension slider 351 can push the forearm bed plate 16 to turn upwards when sliding, the big arm bed plate 15 will turn downwards, and both will form a concave bending and stretching, so as to realize the bending and stretching action of the small arm and the big arm, as shown in fig. 12.

Wherein, the pin joint between forearm bed board 16 and big arm bed board 15 is less than the pin joint between big arm bed board 15 and the main bed board 11 of upper part of the body, if two pin joints are on the collinear, can appear that the upper limbs crouches and stretches slider 351 translation in-process and can't promote forearm bed board 16 and overturn.

In this embodiment, the first upper limb guide rail is an upper limb optical axis 36, two ends of the upper limb optical axis 36 are mounted on the upper limb crank bracket 32, one end of the upper limb crank connecting rod 33 is provided with an upper limb connecting sleeve 332, and the upper limb connecting sleeve 332 is movably sleeved on the upper limb optical axis 36; be equipped with optical axis slider 37 on upper limbs optical axis 36, optical axis slider 37 includes slider base 371 and two lugs 372, and two lugs 372 wear to establish on upper limbs optical axis 36, and upper limbs adapter sleeve 332 locates between two lugs 372, and slider base 371 is equipped with first U-shaped groove 373, and upper limbs connecting rod 34 one end articulates in first U-shaped groove 373 through the round pin axle. The upper limb optical axis 36 is perpendicular to the longitudinal direction of the upper limb second guide rail 35. The upper limb second guide rail 35 is parallel to the length direction of the upper limb bed plate 15 and the lower limb bed plate 16, and the upper limb second guide rail 35 is arranged on the upper body main bed plate 11. The upper limb flexion and extension sliding block 351 is provided with a sliding connection seat 47, the sliding connection seat 47 is provided with a second U-shaped groove 471, and the other end of the upper limb connecting rod 34 is hinged in the second U-shaped groove 471 through a pin shaft. The upper limb flexion and extension sliding block 351 is provided with a C-shaped clamping block, and the upper limb second guide rail 35 is provided with a C-shaped clamping groove matched with the C-shaped clamping block. The sliding connection seat 47 is fixedly connected with the upper limb flexion and extension slide block 351.

In this embodiment, the upper limb crank bracket 32 includes a crank tray 321 and a bracket 322 fixedly connected to the crank tray 321, the bracket 322 has two bracket ear plates 323, and the two ends of the upper limb optical axis 36 penetrate the bracket ear plates 323. The bracket 322 of the upper limb crank bracket 32 is provided with an avoidance guide groove 324, and the upper limb crank link 33 passes through the avoidance guide groove 324 to be connected with the upper limb optical axis 36.

A lower limb structure portion: in this embodiment, the lower limb flexion and extension mechanism is a lower limb crank link slider mechanism, the lower limb crank link slider mechanism is installed below the lower body main bed plate 12, the lower leg bed plate 18 is hinged to the lower limb flexion and extension slider 451 of the lower limb crank link slider mechanism, and the hinge point between the lower leg bed plate 18 and the thigh bed plate 17 is higher than the hinge point between the thigh bed plate 17 and the upper body main bed plate 11. The calf bed plate 18 and the thigh bed plate 17 are suspended.

The structure of the lower limb crank connecting rod sliding block mechanism is basically consistent with that of the upper limb crank sliding block connecting mechanism, and the lower limb crank connecting rod sliding block mechanism comprises a lower limb disc-shaped crank 41, a lower limb crank bracket 42, a lower limb crank connecting rod 43, a lower limb first guide rail, a lower limb connecting rod 44, a lower limb second guide rail 45 and a lower limb crank drive 48, wherein the lower limb crank bracket 42 is arranged on an upper body main bed plate 11, the lower limb disc-shaped crank 41 is arranged on the lower limb crank bracket 42, the lower limb crank drive 48 is preferably a servo motor which is arranged on the back of the lower limb crank bracket 42 and connected with the lower limb disc-shaped crank 41 and used for driving the lower limb disc-shaped crank 41 to rotate, a lower limb sine sliding block 411 is fixedly arranged on the lower limb disc-shaped crank 41, the lower limb first guide rail is fixed on the lower limb crank bracket 42, a lower limb strip-shaped groove 431 is arranged on the lower limb crank connecting rod 43, the lower limb sine sliding block 411 is positioned in the lower limb strip-shaped groove 431, the crank connecting rod 43 is movably arranged on the lower limb first guide rail, the lower limb second guide rail 45 is arranged at one side of the lower limb bed plate 18, one end of the lower limb connecting rod 44 is connected with the lower limb flexion and extension slide block 451 in the lower limb second guide rail 45, the other end is connected with the lower limb crank connecting rod 43, and the lower limb bed plate 18 is hinged with the lower limb flexion and extension slide block 451.

The specific execution process of the lower limb rehabilitation training is as follows:

the servo motor is also preferably driven by the lower limb, so that the servo motor can be started or stopped by arranging the remote controller. Similar to the upper limb rehabilitation training, when the lower limb needs rehabilitation training, the lower limb servo motor is started, the motor drives the lower limb disc-shaped crank 41 to rotate, the lower limb sine slider 411 on the lower limb disc-shaped crank 41 also rotates, the lower limb disc-shaped crank 41 reciprocates along the lower limb strip-shaped groove 431 in the rotation process, so that the lower limb crank connecting rod 43 is driven to move along the upper limb first guide rail, meanwhile, because the lower limb crank connecting rod 43 is connected with the lower limb connecting rod 44, the lower limb connecting rod 43 pushes the lower limb connecting rod 44 to move in the movement process, the lower limb connecting rod 44 pushes (pulls) the lower limb bending and stretching slider 451 to move along the lower limb second guide rail 45, the lower limb bending and stretching slider 451 translates to drive the lower limb bed plate 18 to move relative to the thigh bed plate 17, because the lower limb bed plate 18 is hinged relative to the thigh bed plate 17, and the lower limb bending and stretching slider 451 is also hinged to the lower limb, so that the lower limb bending and stretching slider 451 slides to push the lower limb bed plate 18 to turn upwards, the thigh bed board 17 will turn upwards, and both will form a convex flexion and extension, thereby realizing the flexion and extension action of the lower leg and the thigh, as shown in fig. 15.

Similarly, the hinge point between the calf bed plate 18 and the thigh bed plate 17 is higher than the hinge point between the thigh bed plate 17 and the upper body main bed plate 11, so that the calf bed plate 18 cannot be pushed to turn over in the translation process of the lower limb flexion and extension slide block 451.

In this embodiment, the first lower limb guide rail is a lower limb optical axis 46, two ends of the lower limb optical axis 46 are installed on the lower limb crank bracket 42, one end of the lower limb crank connecting rod 43 is provided with a lower limb connecting sleeve 432, and the lower limb connecting sleeve 432 is movably sleeved on the lower limb optical axis 46. Be equipped with optical axis slider 37 on the low limbs optical axis 46, optical axis slider 37 includes slider base 371 and two lugs 372, and two lugs 372 wear to establish on low limbs optical axis 46, and low limbs adapter sleeve 432 locates between two lugs 372, and slider base 371 is equipped with first U-shaped groove 373, and low limbs connecting rod 44 one end articulates in first U-shaped groove 373 through the round pin axle. The axis of the lower limb optical axis 46 is perpendicular to the longitudinal direction of the lower limb second guide rail 45. The second lower limb guide rails 45 are parallel to the length directions of the calf bed plate 18 and the thigh bed plate 17, and the second lower limb guide rails 45 are arranged on the upper body main bed plate 11. The lower limb bending and extending sliding block 451 is provided with a sliding connection seat 47, the sliding connection seat 47 is provided with a second U-shaped groove 471, and the other end of the lower limb connecting rod 44 is hinged in the second U-shaped groove 471 through a pin shaft. The lower limb bending and stretching slide block 451 is provided with a C-shaped clamping block, and the lower limb second guide rail 45 is provided with a C-shaped clamping groove matched with the C-shaped clamping block. The sliding connection seat 47 is fixedly connected with the lower limb flexion and extension slide block 451.

In the present embodiment, the lower limb crank bracket 42 has the same structure as the upper limb crank bracket 32.

The invention adopts the sinusoidal motion mechanism formed by connecting the disc-shaped crank, the sinusoidal slide block and the crank, and realizes the sinusoidal motion of the upper limb and the lower limb in the bending and stretching process, thereby buffering the motion, reducing the impact on the upper limb and the lower limb and providing better use experience for users. The crank drives of the upper limbs and the lower limbs are preferably servo motors, and the motors can be controlled to change different motion frequencies, so that the intensity most suitable for the motion of a user is achieved. The small arm bed board, the big arm bed board and the driving mechanisms of the small arm bed board and the big arm bed board are connected with the bed board 1 into a whole, and no external device is needed, so that the bed is more convenient and simpler.

Fig. 16 to 21 show the structure and the working principle of the leg bending part of the embodiment.

In this embodiment, the leg bending driving mechanism 8 includes a leg bending screw 81, a leg bending screw driver 82, a leg bending screw connecting rod 83, a transition connecting rod 84, an L-shaped leg bending connecting rod 85, and a leg bending guide rail 86, the lower body main bed plate 12 and the upper body main bed plate 11 have a hinge point P, the leg bending screw 81 is mounted on the back of the bed plate support 21, and the leg bending screw driver 82 is preferably a servo motor for driving the leg bending screw 81 to rotate.

A leg bending guide rail 86 is arranged on the back of the bed plate bracket 21, one end of a leg bending lead screw connecting rod 83 is connected with a leg bending lead screw nut 811 of a leg bending lead screw 81, the other end of the leg bending lead screw connecting rod is connected with a leg bending slider 861 of the leg bending guide rail 86, an L-shaped leg bending connecting rod 85 is hinged on the bed plate bracket 21 and is provided with a hinge point Q, the L-shaped leg bending connecting rod 85 is provided with a horizontal connecting rod portion 851 and a vertical connecting rod portion 852, the hinge point Q is arranged at the joint of the horizontal connecting rod portion 851 and the vertical connecting rod portion 852, one end of a transition connecting rod 84 is hinged with the leg bending slider 861, the other end of the transition connecting rod 84 is hinged with the vertical connecting rod portion 852, the back of the pedal plate 19 is fixedly provided with a support vertical connecting plate 191, the horizontal connecting rod portion 851 is hinged with the support vertical plate 191, the hinge point P and the hinge point Q are on the same vertical line, a hinge point M is arranged between the pedal plate 19 and the lower body main bed plate 12, a hinge point N is arranged on the same vertical line, and the connection length of the PQ is equal to that of the MN.

When the legs need to be bent, the servo motor is started, the leg bending screw 81 rotates, the leg bending screw nut 811 moves rightwards (to the right in fig. 16) in the horizontal plane to drive the leg bending screw connecting rod 83 to move rightwards along the leg bending guide rail 86, the leg bending screw connecting rod 83 drives the transition connecting rod 84 to pull the L-shaped leg bending connecting rod 85 to rotate around the hinge point Q (anticlockwise), the horizontal connecting rod portion 851 moves downwards to drive the supporting vertical plate 191 to move downwards to drive the pedal plate 19 to move downwards, and the pedal plate 19 drives the lower body main bed plate 12 to rotate anticlockwise around the point P in the downward movement process to complete the leg bending action, as shown in fig. 21. In the leg bending process, the connecting line among the hinge point P, the hinge point Q, the hinge point M and the hinge point N is always a parallelogram, so that the pedal plate 19 is always kept in a horizontal position.

When the horizontal leg bending assisting device completes leg bending action, the leg bending mechanism not only needs to stably support the weight of a lower body main bed plate 12 and the whole lower limb, but also needs to be capable of being safely and reliably stopped at any position so as to meet the requirements of users on different leg bending angles. The motor lead screw connecting rod mechanism has the advantages that the structure is simple, the maintenance is convenient, and the failure rate is low while the leg bending action can be safely and reliably executed; when the user bends the legs, the pedal plate 19 is always kept horizontal, so that better use experience is provided for the user, and the comfort level is high. It should be noted that the leg bending assisting device can also perform a leg raising function, in the state shown in fig. 16, the leg bending screw 81 drives the leg bending screw nut 811 to move leftward, the leg bending screw connecting rod 83 drives the transition connecting rod 84 to pull the L-shaped leg bending connecting rod 85 to rotate around the hinge point Q (clockwise), the horizontal connecting rod portion 851 of the L-shaped leg bending connecting rod 85 tilts upward to drive the supporting vertical plate 191 to translate upward, and the pedal plate 19 drives the lower body main bed plate 12 to hinge around the point P to rotate clockwise in the upward moving process. Therefore, the horizontal leg bending assisting device can realize leg bending within the range of 0-70 degrees and leg lifting within the range of 0-30 degrees, can help the old to perform exercise rehabilitation, can be matched with other rehabilitation actions to complete, for example, living assistance such as dining, reading books, washing feet and sitting on a toilet is assisted, and a user can adjust leg bending angles or leg lifting angles by himself through a remote controller, so that the use requirements of different users can be met. The leg-bending lead screw 81 selects a lead screw with a self-locking function, and self-locking at any position can be realized.

In this embodiment, the back of the bed plate support 21 is provided with two connecting vertical plates 211, two ends of the leg bending screw 81 penetrate through the two connecting vertical plates 211, and a bearing seat is arranged between the leg bending screw 81 and the connecting vertical plates 211 to ensure that the leg bending screw 81 only rotates without moving.

In this embodiment, two ends of the bed board bracket 21 are provided with end risers 212, the end riser 212 near one end of the lower main bed board 12 is provided with a leg bending connecting seat 213, the leg bending connecting seat 213 is provided with a third U-shaped groove 214, and the vertical connecting rod portion 852 is hinged in the third U-shaped groove 214 through a pin shaft. The support vertical plate 191 is a right-angled triangular plate, and the horizontal portion of the right-angled triangular plate is fixedly connected to the pedal plate 19 so as to give support to the pedal plate 19. The support vertical plate 191 is provided with a fourth U-shaped groove 192, and the horizontal link portion 851 is hinged in the fourth U-shaped groove 192 by a pin.

In this embodiment, two leg bending guide rails 86, two transition connecting rods 84, two L-shaped leg bending connecting rods 85 and two support vertical plates 191 are provided. The leg bending lead screw connecting rod 83 comprises two connecting rod dividing plates 831, one end of each connecting rod dividing plate 831 is connected with a corresponding leg bending sliding block 861 of the leg bending guide rail 86, the other end of each connecting rod dividing plate 831 is fixedly connected with a leg bending lead screw nut 811, the end, close to the leg bending lead screw nut 811, of each connecting rod dividing plate 831 is bent inwards, and each connecting rod dividing plate 832 further comprises a reinforcing rib 833. Two groups of leg bending guide rails 86, transition connecting rods 84, L-shaped leg bending connecting rods 85 and vertical supporting plates 191 are arranged and used for improving the stability of leg bending action.

Fig. 22 and 23 show the structure and operation of the back portion of the present embodiment.

In this embodiment, the back lifting driving mechanism 5 includes a back lifting screw 51, a back lifting screw rod connecting rod 52, a back lifting connecting rod 53, a back lifting guide rail 54 and a back lifting screw rod drive 55, the back lifting guide rail 54 is disposed on the back of the back plate 13, one end of the back lifting connecting rod 53 is movably disposed on the back lifting guide rail 54, the other end of the back lifting connecting rod is connected with the bed plate bracket 21, the back lifting screw 51 is mounted below the bed plate bracket 21, one end of the back lifting screw rod connecting rod 52 is connected with a back lifting screw rod nut 511 of the back lifting screw rod 51, the other end of the back lifting connecting rod 53 is hinged, and the back lifting screw rod drive 55 is used for driving the back lifting screw rod 51 to rotate. The back-up screw drive 55 is preferably a servomotor. By providing the bed frame 2 with operation buttons or a remote controller. The motor can be started by starting the operation button, so that the back lifting action is started.

When the user needs to get up and lie down, the back raising screw rod 51 is driven to rotate through screw rod driving, the back raising screw rod 51 is limited to rotate and not move, the back raising screw rod nut 511 on the back raising screw rod 51 moves (moves leftwards in fig. 23), the back raising screw rod nut 511 drives the back raising screw rod connecting rod 52 to move, the back raising screw rod connecting rod 52 pushes the back raising connecting rod 53 to rotate upwards along the back raising guide rail 54, and therefore the back plate 13 is pushed to turn upwards relative to the upper body main bed plate 11, and the back raising action is achieved.

Compared with hydraulic drive, the back lifting screw rod driving connecting rod mechanism has the advantages of simple structure, reliable movement, convenient maintenance, low cost, small space occupation rate of the back lifting driving mechanism, large back lifting angle range, capability of self locking at any position and great improvement on the safety of operation.

In this embodiment, it is assumed that a hinge point of the back lifting screw rod connecting rod 52 and the back lifting connecting rod 53 is a point E, one end of the back lifting screw rod connecting rod 52 connected with the back lifting screw rod nut 511 is a point F, one end of the back lifting connecting rod 53 hinged with the bed plate bracket 21 is a point O, and connecting lines among the point E, the point F and the point O form a triangle. Namely, in the process that the back plates 13 are turned over oppositely, the back lifting screw rod connecting rod 52, the back lifting connecting rod 53 and the back lifting screw rod 51 form a stable triangle all the time, so that the back lifting is safer and more reliable.

In this embodiment, a roller 541 is disposed in the back-lifting guide rail 54, and the back-lifting link 53 is connected to the roller 541. The roller 541 rolls in the back lifting guide rail 54, so that the back lifting connecting rod 53 moves in the back lifting guide rail 54 and simultaneously pushes the back plate 13 to overturn, and direct sliding friction between the back lifting connecting rod 53 and the back plate 13 is avoided.

In this embodiment, two back lifting connecting rods 53 and two back lifting guide rails 54 are provided, and the back lifting screw 51 is provided between the two back lifting guide rails 54. The provision of two sets of back-lifting links 53 and back-lifting guide rails 54 improves stability during back lifting. The back screw 51 is also mounted on the bed plate bracket 21 through two connecting risers 211.

Fig. 24 to 27 show the structure and the operation principle of the turnover part.

In this embodiment, the turn-over driving mechanism 6 includes a turn-over screw 61, a turn-over screw connecting rod 62 and a turn-over screw drive 64, the back of the bed plate support 21 is provided with the turn-over connecting rod 63, the turn-over screw 61 is mounted on the bed frame 2 and located below the turn-over connecting rod 63, one end of the turn-over screw connecting rod 62 is connected with the turn-over screw nut 611, the other end is hinged to the turn-over connecting rod 63, the turn-over screw drive 64 is used for driving the turn-over screw 61 to rotate, the two sides of the upper body main bed plate 11 are provided with the side baffles 102, one side of the side baffles 102 close to the inside is hinged to the upper body main bed plate 11, the side baffles 102 are provided with the baffle wheels 201 below, and the baffle wheels 201 are mounted on the side of the bed frame 2 through the baffle wheel support 202.

In this embodiment, the turn screw drive 64 is preferably a servo motor. When the patient turns over, the turning servo motor is started, the turning screw 61 rotates to drive the turning screw nut 611 to move, the turning screw nut 611 drives the turning screw connecting rod 62 to move, the turning screw connecting rod 62 moves to drive the turning connecting rod 63 to swing due to the fact that the turning connecting rod 63 cannot translate, and the turning connecting rod 63 can drive the bed plate bracket 21 to rotate around the bed frame 2 when swinging, so that the turning of the bed plate 1 is realized, and further the turning action is realized, as shown in fig. 28. In the actual use process, a remote controller can be arranged to control the starting and stopping of the servo motor. The user uses the remote controller to operate, and the use experience is greatly improved. The turning-over screw rod 61 selects a screw rod with self-locking, when an assistant user turns over, the bed plate 1 can rotate within the range of-30 degrees to +30 degrees and can stop within any angle range in the turning-over process so as to meet the use requirements of different users, the use experience is good, the comfort level is higher, the self-locking screw rod is adopted to drive the transmission mode of the rod piece mechanism, the angle adjustment of left-right turning-over is realized, and the physical self-locking mode is safer and more reliable.

In this embodiment, the side baffle 102 has a hinge point K with the main bed board 11 of the upper body, and the catch wheel 201 is provided with two, and the catch wheel bracket 202 is correspondingly provided with two. As shown in fig. 27, when the bed plate 1 is turned right, that is, the user needs to turn right, after the bed plate bracket 21 with the bed plate 1 is turned right, since the side baffle plate 102 on the right side is blocked by the catch wheel 201 below the side baffle plate, the side baffle plate 102 on the right side is continuously turned right along with the bed plate 1, and the side baffle plate 102 on the right side is always pushed by the catch wheel 201, so that the side baffle plate 102 on the right side is turned upwards around a hinge point (point K in fig. 27), and the turning of the old people is blocked, and the old people are prevented from sliding down the bed plate when turning over. Through the arrangement of the side baffle plates 102 and the catch wheels 201, when the bed plate 1 is turned over, one part of the bed plate 1 becomes the side baffle plates 102, and the danger of preventing the bed plate from sliding downwards when the bed plate 1 is turned over is ingeniously solved.

Fig. 28 to 30 show the structure and the working principle of the toilet section of the embodiment.

In this embodiment, the toilet driving mechanism 7 comprises a toilet disk crank 71, a toilet crank connecting rod 72, a toilet crank drive, a toilet connecting rod 74 and a tray connecting rod set 75, the toilet crank drive is mounted on the bed plate bracket 21, the toilet disk crank 71 is connected with the toilet crank drive, one end of the toilet crank connecting rod 72 is hinged on the outer edge of the toilet disk crank 71 (the hinged point of the two can not be arranged at the center of the toilet disk crank 71), the other end is hinged with the hip plate 14, the tray connecting rod set 75 comprises a mounting block 751, an L-shaped connecting block 752, a first connecting rod 753 and a second connecting rod 754, the mounting block 751 is arranged on the bed plate bracket 21, one end of each of the first connecting rod 753 and the second connecting rod 754 is hinged on the mounting block 751, the other end of each of the first connecting rod 753 and the second connecting rod 754 are hinged with a horizontal portion 755 of the L-shaped connecting block 752, the toilet tray 9 is fixed on the vertical portion of the L-shaped connecting block 752, the mounting block 751, the first connecting rod 753, the second connecting rod 754 and the horizontal portion 755 form a parallelogram, and one end of the toileting connecting rod 74 is hinged with the hip plate 14, and the other end is hinged with the L-shaped connecting block 752.

In this embodiment, the toilet crank drive (not shown) is preferably a servo motor. In the normal state, the hip plate 14 is in the closed state. Namely, the buttocks plate 14 is positioned in the mounting groove 101 of the upper body main bed plate 11 and forms a whole with the upper body main bed plate 11, and at the moment, the buttocks plate 14 is positioned at the toilet tray 9 for closing and blocking the lower part of the buttocks plate 14 and collecting excrement. When the toilet needs to be used, the servo motor is started, the toilet disc crank 71 rotates, the toilet crank connecting rod 72 moves along with the rotation of the toilet disc crank 71, the hip plate 14 is pulled to slide along the installation groove 101, the sliding of the hip plate 14 drives the toilet connecting rod 74 to lift with the L-shaped connecting block 752 and the toilet tray 9, and after the toilet is in place, excrement is collected, so that the toilet is completed. The mounting block 751, the first connecting rod 753, the second connecting rod 754 and the horizontal portion 755 form a parallelogram to ensure that the toilet tray 9 is always in a horizontal position. Rotation of the commoning disk crank 71 from 0 to 180 degrees opens (pushes) the hip plate 14, the commoning tray 9 rises to the limit position, the commoning disk crank 71 continues to rotate from 180 to 360 degrees, the hip plate 14 closes, and the commoning tray 9 falls to the limit position.

In the in-service use, can dispose the remote controller, open with remote controller control servo motor and stop, improved user's experience greatly and felt and comfort level.

It should be noted that when servo motor control like lavatory disk crank 71 rotated 180 this, the motor stall, arrived crank link mechanism's dead point position this moment, like lavatory tray 9 also to rise to the extreme position apart from hip board 14 certain distance, when having the excrement, utilized the dead point effect will like lavatory tray 9 lock die in extreme position department, utilized crank link mechanism's dead point effect, realized that the bracket can steadily stop after rising to a certain position.

In this embodiment, the two side walls of the mounting groove 101 are provided with sliding grooves 103, and sliding blocks (not shown) are arranged in the sliding grooves 103 and are fixedly connected with the side walls of the hip plate 14.

In this embodiment, a hinge point H is provided between the toilet link 74 and the L-shaped connecting block 752, a hinge point J is provided between the second link 754 and the L-shaped connecting block 751, and the hinge point H and the hinge point J coincide.

In this embodiment, the back plate 13, the large arm bed plate 15, the small arm bed plate 16 and the thigh bed plate 17 are embedded in the upper body main bed plate 11, and the large arm bed plate 15, the small arm bed plate 16 and the thigh bed plate 17 are flush with the upper body main bed plate 11; the shank bed board 18 is embedded in the lower body main bed board 12, the shank bed board 18 is flush with the lower body main bed board 12, and the pedal 19 is flush with the lower body main bed board 12 and the upper body main bed board 11.

The intelligent control process comprises the following steps:

in this embodiment, taking sitting and standing as an example, the sitting and standing is completed by combining two actions of raising the back and bending the legs.

Step S1, call the name of the voice control system, and then the user listens to the voice control system whether the answer is "what is there, what help you need? ", if no, call the name again, if yes, go to step S2.

Step S2, the user speaks the concrete help content, the system identifies the keyword, the user listens to the voice to control whether the system answers "good you are ready", if not, the user speaks the concrete help content again, if yes, the step S3 is entered.

Step S3, the user answers 'ready', the system identifies keywords, the user listens to whether the voice control system answers 'good', if not, the user answers 'ready', if yes, the voice control system controls the back lifting servo motor to start, the back plate 13 turns upwards to finish back lifting, and simultaneously controls the leg bending servo motor to start, the pedal plate 19 translates downwards, the lower body main bed plate 12 turns downwards to finish leg bending, so that the user can sit and stand, and the user requirement is finished.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims

1. An intelligently controlled rehabilitation physiotherapy nursing device is characterized by comprising a bed plate (1), a bed plate bracket (21), a bed frame (2), a back lifting driving mechanism (5), a turnover driving mechanism (6), a toileting tray (9), a toileting driving mechanism (7), an upper limb bending and stretching mechanism (3), a lower limb bending and stretching mechanism (4), a leg bending and stretching mechanism (8) and a voice control system, wherein the bed plate (1) comprises an upper body main bed plate (11), a lower body main bed plate (12), a back plate (13), a hip plate (14), a big arm bed plate (15), a small arm bed plate (16), a thigh bed plate (17), a small arm bed plate (18) and a pedal plate (19), the upper body main bed plate (11) is arranged on the bed plate bracket (21), the lower body main bed plate (12) is hinged with the upper body main bed plate (11), the back plate (13) is arranged on the bed plate bracket (21), and is hinged with an upper body main bed board (11), the back lifting driving mechanism (5) is arranged on a bed board bracket (21) and is used for driving a back board (13) to turn upwards, the upper body main bed board (11) is provided with a mounting groove (101), the hip board (14) is arranged in the mounting groove (101) in a sliding manner, the toileting tray (9) is arranged below the hip board (14) and is connected with a toileting driving mechanism (7), the toileting driving mechanism (7) is used for driving the hip board (14) to slide and driving the toileting tray (9) to ascend and descend, the big arm bed board (15) is hinged on the back board (13), the small arm bed board (16) is hinged with the big arm bed board (15), the upper limb bending and stretching mechanism (3) is connected with the small arm bed board (16) and drives the small arm bed board (16) and the big arm bed board (15) to move downwards, and the thigh (17) is hinged on the upper body main bed board (11), the lower limb bending and stretching mechanism (4) is connected with the lower limb bed board (18) and drives the lower limb bed board (18) and the thigh bed board (17) to move upwards and outwards, the turnover driving mechanism (6) is arranged on the bed frame (2), the bed board support (21) is rotatably arranged on the bed frame (2), the turnover driving mechanism (6) is connected with the bed board support (21) and is used for driving the bed board support (21) to turn over relative to the bed frame (2), the pedal (19) is hinged on the lower body main bed board (12), the leg bending driving mechanism (8) is connected with the pedal (19) and drives the pedal (19) to move downwards and drive the lower body main bed board (12) to turn over downwards, the voice control system receives a back lifting, turnover, bending and stretching or leg bending instruction of the lower limb sent by a user, the starting and stopping of a back lifting driving mechanism (5), a turning-over driving mechanism (6), a toilet driving mechanism (7), an upper limb bending and stretching mechanism (3), a lower limb bending and stretching mechanism (4) or a leg bending driving mechanism (8) are controlled according to received instructions, the upper limb bending and stretching mechanism (3) is an upper limb crank-link slider mechanism, the upper limb crank-link slider mechanism is installed below an upper body main bed plate (11), a small arm bed plate (16) is hinged with an upper limb bending and stretching slider (351) of the upper limb crank-link slider mechanism, and a hinge point between the small arm bed plate (16) and a large arm bed plate (15) is lower than a hinge point between the large arm bed plate (15) and a back plate (13); the lower limb flexion and extension mechanism (4) is a lower limb crank connecting rod sliding block mechanism, the lower limb crank connecting rod sliding block mechanism is arranged below the lower body main bed plate (12), a lower limb flexion and extension sliding block (451) of the lower limb crank connecting rod sliding block mechanism is hinged with the lower limb flexion and extension sliding block (18), the hinging point between the lower limb bed plate (18) and the thigh bed plate (17) is higher than the hinging point between the thigh bed plate (17) and the upper body main bed plate (11), the upper limb crank connecting rod sliding block mechanism comprises an upper limb disc-shaped crank (31), an upper limb crank bracket (32), an upper limb crank connecting rod (33), an upper limb first guide rail, an upper limb connecting rod (34), an upper limb second guide rail (35) and an upper limb crank drive (38), the upper limb crank bracket (32) is arranged on the upper body main bed plate (11), the upper limb disc-shaped crank (31) is arranged on the upper limb crank bracket (32), the upper limb crank drive (38) is used for driving an upper limb disc crank (31) to rotate, an upper limb sine slider (311) is fixedly arranged on the upper limb disc crank (31), a first guide rail of the upper limb is fixed on an upper limb crank bracket (32), an upper limb strip-shaped groove (331) is formed in an upper limb crank connecting rod (33), the upper limb sine slider (311) is located in the upper limb strip-shaped groove (331), the upper limb crank connecting rod (33) is movably arranged on the first guide rail of the upper limb, an upper limb second guide rail (35) is arranged on one side of a forearm bed plate (16), one end of the upper limb connecting rod (34) is connected with an upper limb bending and stretching slider (351) in the upper limb second guide rail (35), the other end of the upper limb connecting rod is connected with the upper limb crank connecting rod (33), and the forearm bed plate (16) is hinged to the upper limb bending and stretching slider (351).

2. The rehabilitation, physiotherapy and nursing device capable of being intelligently controlled according to claim 1, wherein the lower limb crank-link slider mechanism comprises a lower limb disk-shaped crank (41), a lower limb crank bracket (42), a lower limb crank-link (43), a lower limb first guide rail, a lower limb link (44), a lower limb second guide rail (45) and a lower limb crank drive (48), the lower limb crank bracket (42) is installed on the upper body main bed plate (11), the lower limb disk-shaped crank (41) is arranged on the lower limb crank bracket (42), the lower limb crank drive (48) is used for driving the lower limb disk-shaped crank (41) to rotate, a lower limb sine slider (411) is fixedly arranged on the lower limb disk-shaped crank (41), the lower limb first guide rail is fixed on the lower limb crank bracket (42), and a lower limb crank-link (43) is provided with a lower limb groove (431), the utility model discloses a lower limbs sinusoidal slider (411) is located in low limbs bar groove (431), the mobilizable first guide rail of locating of low limbs crank link (43), one side of shank bed board (18) is located in low limbs second guide rail (45), lower limbs connecting rod (44) one end is bent with the low limbs in low limbs second guide rail (45) and is stretched slider (451) and be connected, and the other end is connected with low limbs crank link (43), shank bed board (18) are bent with the low limbs and are stretched slider (451) and articulate.

3. The rehabilitation, physiotherapy and nursing device capable of being intelligently controlled according to claim 2, wherein the upper limb first guide rail is an upper limb optical axis (36), two ends of the upper limb optical axis (36) are installed on the upper limb crank bracket (32), one end of the upper limb crank connecting rod (33) is provided with an upper limb connecting sleeve (332), and the upper limb connecting sleeve (332) is movably sleeved on the upper limb optical axis (36); the lower limb first guide rail is a lower limb optical axis (46), two ends of the lower limb optical axis (46) are arranged on a lower limb crank bracket (42), a lower limb connecting sleeve (432) is arranged at one end of the lower limb crank connecting rod (43), and the lower limb connecting sleeve (432) is movably sleeved on the lower limb optical axis (46); an optical axis sliding block (37) is arranged on the upper limb optical axis (36), the optical axis sliding block (37) comprises a sliding block base (371) and two lifting lugs (372), the two lifting lugs (372) are arranged on the upper limb optical axis (36) in a penetrating mode, the upper limb connecting sleeve (332) is arranged between the two lifting lugs (372), the sliding block base (371) is provided with a first U-shaped groove (373), and one end of the upper limb connecting rod (34) is hinged in the first U-shaped groove (373) through a pin shaft; the lower limb optical axis (46) is provided with an optical axis sliding block (37), the optical axis sliding block (37) comprises a sliding block base (371) and two lifting lugs (372), the two lifting lugs (372) are arranged on the lower limb optical axis (46) in a penetrating mode, the lower limb connecting sleeve (432) is arranged between the two lifting lugs (372), the sliding block base (371) is provided with a first U-shaped groove (373), and one end of a lower limb connecting rod (44) is hinged in the first U-shaped groove (373) through a pin shaft; a sliding connection seat (47) is arranged on the upper limb bending and stretching sliding block (351), a second U-shaped groove (471) is formed in the sliding connection seat (47), and the other end of the upper limb connecting rod (34) is hinged in the second U-shaped groove (471) through a pin shaft; the lower limb bending and stretching sliding block (451) is provided with a sliding connection seat (47), the sliding connection seat (47) is provided with a second U-shaped groove (471), and the other end of the lower limb connecting rod (44) is hinged in the second U-shaped groove (471) through a pin shaft.

4. The intelligently controllable rehabilitation, physiotherapy and nursing device according to any one of claims 1 to 3, wherein said leg bending driving mechanism (8) comprises a leg bending screw (81), a leg bending screw driver (82), a leg bending screw connecting rod (83), a transition connecting rod (84), an L-shaped leg bending connecting rod (85) and a leg bending guide rail (86), said lower body main bed plate (12) and upper body main bed plate (11) have a hinge point P, said leg bending screw (81) is mounted on the back of the bed plate bracket (21), said leg bending screw driver (82) is used for driving the leg bending screw (81) to rotate, said leg bending guide rail (86) is mounted on the back of the bed plate bracket (21), one end of said leg bending screw connecting rod (83) is connected with a leg bending screw nut (811) of the leg bending screw (81), the other end is connected with a leg bending slider (861) of the leg bending guide rail (86), the L-shaped leg bending connecting rod (85) is hinged on the bed plate support (21) and provided with a hinge point Q, the L-shaped leg bending connecting rod (85) is provided with a horizontal connecting rod part (851) and a vertical connecting rod part (852), the hinge point Q is arranged at the joint of the horizontal connecting rod part (851) and the vertical connecting rod part (852), one end of the transition connecting rod (84) is hinged with the leg bending sliding block (861), the other end of the transition connecting rod is hinged with the vertical connecting rod part (852), a supporting vertical plate (191) is fixedly arranged on the back surface of the pedal plate (19), the horizontal connecting rod part (851) is hinged with the supporting vertical plate (191), the hinge point P and the hinge point Q are on the same vertical line, a hinge point M is arranged between the pedal plate (19) and the lower body main bed plate (12), a hinge point N is arranged between the horizontal connecting rod part (851) and the supporting vertical plate (191), and the hinge point M and the hinge point N are on the same vertical line, and the connection length of the PQ is equal to that of the MN.

5. The intelligent control rehabilitation physiotherapy nursing device according to any one of claims 1 to 3, wherein the back lifting driving mechanism (5) comprises a back lifting lead screw (51), a back lifting lead screw connecting rod (52), a back lifting connecting rod (53), a back lifting guide rail (54) and a back lifting lead screw drive (55), the back lifting guide rail (54) is arranged on the back surface of the backboard (13), one end of the back lifting connecting rod (53) is movably arranged on the back lifting guide rail (54), the other end of the back lifting connecting rod is connected with the bed plate bracket (21), the back lifting lead screw (51) is arranged below the bed plate bracket (21), one end of the back lifting lead screw connecting rod (52) is connected with a back lifting lead screw nut (511) of the back lifting lead screw (51), the other end of the back lifting lead screw connecting rod is hinged with the back lifting connecting rod (53), and the back lifting lead screw drive (55) is used for driving the back lifting lead screw (51) to rotate.

6. The intelligent control rehabilitation physiotherapy nursing device according to any one of claims 1 to 3, wherein the turnover driving mechanism (6) comprises a turnover screw (61), a turnover screw connecting rod (62) and a turnover screw driver (64), the back of the bed plate bracket (21) is provided with a turnover connecting rod (63), the turnover screw (61) is mounted on the bed frame (2) and is positioned below the turnover connecting rod (63), one end of the turnover screw connecting rod (62) is connected with a turnover screw nut (611), the other end of the turnover screw connecting rod is hinged with the turnover connecting rod (63), the turnover screw driver (64) is used for driving the turnover screw (61) to rotate, the two sides of the upper body main bed plate (11) are provided with side baffles (102), one side of the side baffles (102) close to the inner side is hinged on the upper body main bed plate (11), and a baffle wheel (201) is arranged below the side baffles (102), the catch wheels (201) are arranged on the side part of the bedstead (2) through catch wheel brackets (202).

7. The intelligently controllable rehabilitation physiotherapy care device according to any one of claims 1 to 3, characterized in that the toileting drive mechanism (7) comprises a toileting disk crank (71), a toileting crank link (72), a toileting crank drive, a toileting link (74) and a tray link set (75), the toileting crank drive is mounted on the bed plate bracket (21), the toileting disk crank (71) is connected with the toileting crank drive, the toileting crank link (72) is hinged at one end to the outer edge of the toileting disk crank (71) and at the other end to the hip plate (14), the tray link set (75) comprises a mounting block (751), an L-shaped connecting block (752), a first link (753) and a second link (754), the mounting block (751) is arranged on the bed plate bracket (21), one end of each of the first link (753) and the second link (754) is hinged to the mounting block (751), the other end of each end is hinged with the horizontal part (755) of the L-shaped connecting block (752), the first connecting rod (753) is parallel to the second connecting rod (754), the toilet tray (9) is fixed on the vertical part (756) of the L-shaped connecting block (752), a parallelogram is formed among the mounting block (751), the first connecting rod (753), the second connecting rod (754) and the horizontal part (755), and one end of the toilet connecting rod (74) is hinged with the hip plate (14) while the other end is hinged with the L-shaped connecting block (752).

8. The intelligently controllable rehabilitation, physiotherapy and nursing device according to any one of claims 1 to 3, characterized in that the back plate (13), the upper arm bed plate (15), the lower arm bed plate (16) and the thigh bed plate (17) are embedded on the upper body main bed plate (11), and the upper arm bed plate (15), the lower arm bed plate (16) and the thigh bed plate (17) are flush with the upper body main bed plate (11); the shank bed board (18) is embedded in the lower body main bed board (12), the shank bed board (18) is flush with the lower body main bed board (12), and the pedal (19) is flush with the lower body main bed board (12) and the upper body main bed board (11).